Publication Date

1992

Document Type

Dissertation/Thesis

First Advisor

Woo, Peng-Yung

Degree Name

M.S. (Master of Science)

Legacy Department

Department of Electrical Engineering

LCSH

Robots--Control systems; Manipulators (Mechanism)

Abstract

A traditional steepest descent MRAC scheme, applied for the two-link manipulator, provides satisfactory tracking only for a certain desired input. The MRAC scheme is inaccurate when the required planned trajectory is complex, for example when both links are maneuvering in the different directions with the high speed. This phenomenon can be explained by strong disturbances caused by interactions between the links. This thesis investigates the proposed steepest descent MRAC with the PID controllers scheme. Stability of the PID-controlled robotic manipulator is investigated and adaptive regulators are derived. The robustness of the control system is increased with the help of the PID controller parameter and MRAC weighting factor optimization. The simplex algorithm and the time-squared weighted performance index is utilized for optimization. The worst trajectory and structure of the two-link manipulator when the disturbances are strongest is introduced. Simulations confirm that the steepest descent MRAC with the PID controller gives good tracking in the presence of any disturbances.

Comments

Includes bibliographical references (pages 86-90)

Extent

viii, 100 pages

Language

eng

Publisher

Northern Illinois University

Rights Statement

In Copyright

Rights Statement 2

NIU theses are protected by copyright. They may be viewed from Huskie Commons for any purpose, but reproduction or distribution in any format is prohibited without the written permission of the authors.

Media Type

Text

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